When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots are designed to work in the spaces created for humans, many environments, such as living rooms and offices, can be and should be redesigned to enhance and improve human-robot collaboration and interactions. This work uses autonomous wheelchair as an example and investigates the computational design in the human-robot coexistence spaces. Given the room size and the objects $O$ in the room, the proposed framework computes the optimal layouts of $O$ that satisfy both human preferences and navigation constraints of the wheelchair. The key enabling technique is a motion planner that can efficiently evaluate hundreds of similar motion planning problems. Our implementation shows that the proposed framework can produce a design around three to five minutes on average comparing to 10 to 20 minutes without the proposed motion planner. Our results also show that the proposed method produces reasonable designs even for tight spaces and for users with different preferences.

中文翻译：

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设计人机共存空间

当人机交互无处不在时，这些交互周围的环境将对人类的安全和舒适以及机器人的有效性和效率产生重大影响。尽管大多数机器人设计用于在为人类创造的空间中工作，但许多环境，例如客厅和办公室，可以而且应该重新设计，以增强和改善人机协作和互动。这项工作以自动轮椅为例，研究人机共存空间中的计算设计。给定房间大小和房间中的物体 $O$，所提出的框架计算 $O$ 的最佳布局，以满足人类偏好和轮椅的导航限制。关键的启用技术是一个运动规划器，它可以有效地评估数百个类似的运动规划问题。我们的实施表明，与没有建议的运动规划器的情况下，建议的框架平均可以产生大约 3 到 5 分钟的设计，而 10 到 20 分钟。我们的结果还表明，即使对于狭小空间和具有不同偏好的用户，所提出的方法也能产生合理的设计。